the proceedings contain 155 papers. the topics discussed include: effect of Harvard step test on blood pressure of sportspersons;dual band circularly polarized compact implantable antenna using shorting pin;leveraging...
ISBN:
(纸本)9781665425520
the proceedings contain 155 papers. the topics discussed include: effect of Harvard step test on blood pressure of sportspersons;dual band circularly polarized compact implantable antenna using shorting pin;leveraging deep learning algorithms for classification of tomato leaf diseases;a design of customer service request desk to improve the efficiency using robotics process automation;a systematic analysis of applications of blockchain in healthcare;metamaterial loaded dual-band circularly polarized compact implantable antenna with and without shorting pin;mobile cloud computing - enabling technologies and applications;scheduling optimization in cloud computing: review and issues;and artificial intelligence based algorithms for driver distraction detection: a review.
the proceedings contain 58 papers. the topics discussed include: the development of an omnidirectional mobile robot based on hub motor;optimization design for link structure of heavy-duty transfer robot based on respo...
ISBN:
(纸本)9781665424370
the proceedings contain 58 papers. the topics discussed include: the development of an omnidirectional mobile robot based on hub motor;optimization design for link structure of heavy-duty transfer robot based on response surface method;the dynamics research of quadruped robotics with flexible spine: a review;a novel low-cost quadruped robot with joint fault-tolerant control;key technologies of lower limb power-assisted exoskeleton robots: a review;structure design and clamping force analysis based on the end clamping system of polishing industrial robot;research on leg transmission mechanism of quadruped robot;adaptive fuzzy sliding mode control for collaborative robot based on nominal model;and supercapacitor dynamic control suite for achieving high transient state power in robot system.
When multi-robot systems execute large-area detection tasks, such as airport runways, taxiways, and parking aprons, it is necessary to consider the execution time of the detection tasks and the entry and exit position...
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the Point Pair Feature [4] has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to the traditional local and global pipeline...
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ISBN:
(纸本)9781538663387
the Point Pair Feature [4] has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to the traditional local and global pipelines. During the last years, several variations of the algorithm have been proposed. Among these extensions, the solution introduced by Hinterstoisser et al. [6] is a major contribution. this work presents a variation of this PPF method applied to the SIXD Challenge datasets presented at the 3rd international Workshop on Recovering 6D Object Pose held at the ICCV 2017. We report an average recall of 0.77 for all datasets and overall recall of 0.82, 0.67, 0.85, 0.37, 0.97 and 0.96 for hinterstoisser, tless, tudlight, rutgers, tejani and doumanoglou datasets, respectively.
Jacobian based control of walking robot is difficult as compared to terrestrial manipulator as walking robot's each leg can be considered as a terrestrial manipulator. Moreover each leg is not always in motion as ...
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ISBN:
(纸本)9781629934839
Jacobian based control of walking robot is difficult as compared to terrestrial manipulator as walking robot's each leg can be considered as a terrestrial manipulator. Moreover each leg is not always in motion as it has to pass through stand and motion phase depending upon the gait pattern. this paper proposed an approach where first gait pattern is assumed and for this gait pattern joint motions are assumed. For these joint motions the leg tip velocity is simulated. For pattern generation this leg tip velocity is assumed as the reference velocity and given to leg tip during the motion of that particular leg. the actual velocity of leg is calculated from the joint velocity of leg. the error in leg tip velocity is evaluated in PID controller, calculates the corrective voltage required for the joint motors. For the said analysis, the bond graph has been adopted as the modeling tool.
the paper describes the dynamic behavior of STATCOM device and a SVC device connected in the National Grid and shows simulation results. the operation principle of the two devices will be presented. the simulations we...
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this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based...
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ISBN:
(纸本)9781457709142
this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.
the paper contents the LabVIEW library with instruments designed for the theoretical and experimental assisted research in robotics. the library have more than 350 virtual instrumentation for the assisted kinematics, ...
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ISBN:
(纸本)9781728101279
the paper contents the LabVIEW library with instruments designed for the theoretical and experimental assisted research in robotics. the library have more than 350 virtual instrumentation for the assisted kinematics, dynamics for the assisted structural design of some more important types of robots, for the animation of the movements of all robot's bodies. the created library will be used also for the animation of the robots in complex applications like serial, parallel, mixt configuration and also for the animation of the parallel structures. All mathematical models are in the matrix form and assure easily to obtain the information about the positions, angular and linear velocities in dual vectors form, linear and angular accelerations in dual vectors form, 6x6 matrix form for the forces-moments in all robot's joints. the designed library can be used in all analyze of the robots structures because it is general, withthe possibility to combine many LabVIEW icons to obtain other instrumentation. One important part of this library is dedicated for the assisted research with data acquisition by using the specific data acquisition board from National Instruments for the assisted research of the dynamic behavior parameters and also for controlling, in a automation cycle, one didactical arm type robot with DC encoder motors and Geko drive controlling board. the presented methodology and the virtual instrumentation can be applied in all types of the robot's structures.
this paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction t...
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ISBN:
(纸本)9789897581984
this paper proposes a novel driving-assistance system for manual wheelchairs with consideration of both uphill and downhill conditions. On an inclined road, there is a high risk of a wheelchair moving in a direction that the user does not intend. In our previous works, the user has driven our assistive wheelchair in the usual manner. Our proposed system estimates its user's intentions and passively works to complement their intentional force by negating the wheel traction that is generated by the road's inclination using only the servo brakes on each wheel. Nevertheless, in some cases, our system fails to assist the driving motion of its user because the user drives the wheelchair in several ways that depend upon the environmental condition, for example, during uphill or downhill driving. the required assistance is not constant according to the situation, and it is difficult to assist with one wheel-control algorithm. therefore, in this study, we first investigate the required assistance condition according to the driving situation by conducting a preliminary experiment with wheelchair users. Considering the results of this investigation, we then propose a novel user interface that intuitively shows the system information and a wheel-control algorithm that selects a suitable wheel controller according to the driving situation.
Transforming research results into marketable products requires considerable endurance and a strong sense of entrepreneurship. the KUKA Lightweight Robot (LWR) is the latest outcome of a bilateral research collaborati...
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ISBN:
(纸本)9781617387197
Transforming research results into marketable products requires considerable endurance and a strong sense of entrepreneurship. the KUKA Lightweight Robot (LWR) is the latest outcome of a bilateral research collaboration between KUKA Roboter, Augsburg, and the Institute of robotics and Mechatronics at the German Aerospace Center (DLR), Wessling. the LWR has unique characteristics including a low mass-payload ratio and a programmable, active compliance which enables researchers and engineers to develop new industrial and service robotics applications with unprecedented performance, making it a unique reference platform for robotics research and future manufacturing. the stages of product genesis, the most innovative features and first application examples are presented.
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